Remote handling apparatus



Aug. 28, 1956 H. E. FosKuHl.

REMOTE HANDLING APPARATUS Filed April 28, 1955 1N V EN TOR.

Henry E. Foskuh/ AT TORNE Y United States atent O REMOTE HANDLINGAPPARATUS Henry E. Foskuhl, Waynesville, Ohio, assignor to the UmtedStates of America as represented by the United States Atomic EnergyCommission Application April 28, 1955, Serial No. 504,695

Claims. (Cl. 214-17) .The present invention relates to remote controlhandlmg, and more especially to special equipment for performingoperations of the type where the material to be handled must be closelyconfined, protected by an inert atmosphere, or Where an object must beinserted into a vacuum system without breaking the vacuum. The invention1s. especially useful in transporting radioactive sample materials fromone closed system to another closed system without the human operatortouching the sample, wlthout allowing the escape of dangerous particlesfrom the sample, and without exposing the operator to dangerousradiations given off by the sample.

In the performance of certain assay operations, radioactive foils mustbe transferred from a plating bath where they receive the activematerial to a microbalance for weighing. The foils are so highlyradioactive that the complete transfer must be accomplished within a gasand radiation-tight chamber to prevent the spread of contamination asthe foils are transported from one place to another. Moreover, adequateradiation shielding must be provided so that a human operator can carrythe foils from place to place. Since certain operations must beperformed inside vacuum chambers, means must be provided for inserting afoil into a chamber and removing it without breaking the vacuum, andalso without allowing the external surfaces of the vacuum chamber tobecome contaminated from contact with or exposure to radiation from thefoils. In addition, certain operations require that'the foil be movedfrom place to place within the enclosed chamber and be rotated through180 to allow counting of both foil surfaces.

Other operations, not involving radioactivity, require that certainchemically active substances be shielded from air or from moistureduring transport from one place to another, and that means be providedfor inserting and withdrawing such substances from gas-tight vesselswithout dangerous exposure of the substance. Still other operationsrequire replacement of small parts within a vacuum system, such as thatof a mass spectrometer or a high pressure nuclear radiation counter,without loss of pressure or vacuum due to the insertion or removal ofthe part to be replaced.

Accordingly, it is a primary object of applicants invention to provideimproved means for withdrawing, transporting, and inserting objects fromone closed system into another closed system. A further object of theinvention is to provide a novel sample carrier for transporting asubstance in a gas-tight sealed carrier between the two closed systems.Yet another object of the invention is to provide novel fittings forvacuum systems including a detachable portion which may be transportedfrom a first system to a second system and inserted into a correspondingtting member on the second system, together with means for insertion ofthe substance carried into the second system and manipulation of thesubstance therein. Other objects and advantages of the invention willbecome apparent in the following detailed description of a pre- PatentedAug. 28, k1956 ferred embodiment thereof, when read in conjunction withthe appended drawings, in which:

Figure 1 illustrates the detachable portion of my novel apparatusremoved from its normal position for clarity.

Figure 2 illustrates, in partial section, the fitting including thedetachable portion;

Figure 3 illustrates a front view of the mechanism of thei invention asit is attached to a closed vacuum system, an

Figure 4 shows a sleeve forming an integral part of the sub-assembly ofFigure l.

According to the invention, extendable forceps are provided inside thebody of a detachable carrier which forms a vacuum tight seal with amounting block member. The block member in turn is mounted on a wall ofthe systern to be served and communicates with the interior of thesystem `through an aperture which registers with an axial aperture inthe carrier. A cam is provided with a cam follower which grasps the endcap of the carrier and slides it to one side responsive to cam movementto expose the axial carrier aperture to the registering aperture in theblock. Means are provided for extending the forceps from inside thecarrier through the block aperture into the closed system and forrotating the forceps therein.

Referring lirst to Figure 3, a typical installation of one embodiment ofthe invention on the wall of a closed, vacuum type vessel isillustrated. Suitable knobs 42, 44 and their respective associatedgearing are shown for moving the block 33 up and down and right andleft. respectively, within the limits of frame 37. Block 33 is insertedinto an aperture in the wall of the closed vessel so that the shouldersof the block abut against the external Wall face. A suitable frame 37,having thin inner edges and thicker outer edges surrounds the block andclamps it vacuum-tight against the vessel wall by means of screws 38,which fasten to the wall. A raised boss portion 39 receives the carrier1 and a knurled, threaded and gasketed cap 40 fits overa flange 41 onthe carrier` and the correspondingly threaded boss portion 39 to form agas-tight seal. Arm 31 and handle 30 extend outward from the face ofblock 33 through Wilson seal 32 for easy operation of the cam 34, asshown in Figure 2.

In the sectional view of Figure 2, the block 33 is secured to a plate 36by countersunk, flat-head screws, a ring gasket being provided to insurea vacuum-tight seal. The plate is provided with an entrance aperture 43registering with the axis of a bore through boss 39 and the block 33. Achannel 45 in the front face of the block receives the sliding gate 3Sand also the .cam 34. The cam is mounted on arm 31, which extends outthrough a bore in the block 33 and a Wilson seal 32 and terminates in ahandle '30. When the body of carrier 1 is inserted as shown, the end cap25 lits in a firs-t of two parallel slots formed in the inner surface ofa rectangular, sliding gate 35. Two leaf springs, not shown, are placedbetween the ga-te and the top ofrecess 45, so that a vacuum-tight,sliding seal is obtained between the gate and plate 36. Movement of thehandle 30 will rotate arm 31 and cam 34, sliding gate 35 to the rig-htin t-he ligure, pulling cap 2'5 across the face of the carrier andexposing the center aperture or mouth which registers with thecorresponding opening 43 in the plate 36. It is Iapparent that .boss 39could take the form of a counteribore in block 33 to receive the closuremember 40, but the boss supports the member 40 where it can be graspedreadily. A port 48 is provided near the'corner of recess 45, and isconnected through a flexible metal tubing to an auxiliary vacuum and gassupply system.

yReferring now to Figure 1, the sample carrier may comprise a bodymember 1 of preferably tubular configuration, counterbored at one end toreceive a Wilson seal 2 its inner face, a normally closed aperture insaid face communicating with said recess, and a passageway from theouter face to said recess and aligned with said aperture; a detachablemember having a hollow body portion disposed within said pass-ageway, amoveable cap at the inner end of said body, a handle, and axiallyextendable forceps mounted within said handle; a closure member engagingsaid body and said block for sealing said passageway; means for openingsaid aperture to said recess;

means for removing said cap to expose said hollow body to saidapertures; and means for extending and manipulating forceps through saidaperture into said vessel.

2. Means for entering a closed vessel through one Wall thereofcomprising a loading block mounted in said Wall and provided with anaperture in its inner face, a recess in the inner portion communicatingwith said aperture, a boss portion, and a passageway between said bossand said recess and aligned with said aperture; a rectangular gateprovided with irstand second parallel slots in its inner face slidablymounted in said recess and adapted to seal said aperture in its normalposition; an eccentric cam disposed in said iirst slot of said gate andprovided with a shaft extending externally of said block for camrotation, said rotation sliding said gate to uncover said aperture; adetachable member having a hollow body portion disposed within saidpassageway, a removable cap, and a handle portion, said cap beingdisposed in said second slot and moveable thereby; a detachable closuremem ber disposed about said boss and said body for sea-ling said bodyand passageway from the external atmosphere; said carrier member beingprovided with forceps and means for extending and retracting saidforceps axially thereof through said aligned block aperture into saidvessel.

3. A device according to claim 2 wherein said loading block inner facecomprises an apertured plate secured to the recessed end of said blockand wherein said rectangular slidable gate is provided with a centralportion between said slots contacting the end wall of said recess and anouter surface portion forming a metal-to-metal seal with said plate toeffectively seal said aperture.

4. A device of the character described comprising a hollow body portion;a hollow positioner rotatably mounted axially of said body and extendingfrom the rear thereof, the front portion of Vsaid positioner beingprovided with a helical groove; a longitudinally moveable operating roddisposed coaxially within said grooved .portion and carrying a colletthereon; a front rod carried by the forward end of said operating rod; ahollow clutch rod adapted to receive said operating rod therein; asleeve carrying a lug which engages said groove and adapted to extendaxially from the forward end of said body; a plug carried by the forwardend of said sleeve and provided with an axial passage for said frontrod; forceps carried by the forward portion of said plug and providedwith a hinge pin extending through said front rod; a anged clutch sleevedisposed coaxially about said clutch rod and provided with a taperedforward end to receive said collet and lock said clutch and operatingrod-s together; a spring disposed about said clutch r-od and bearingagainst the rear ange on said clutch sleeve; an annular spring retainerdisposed about said clutch rod; a pin through said clutch rod rearwardof said retainer, whereby said clutch rod is urged rearward, an end capdetachably coupled to said positioner and contacting the rear end ofsaid clutch rod to prevent rearward motion thereof; means for sealingsaid positioner within said body while permitting rotational motion;means for sealing said clutch rod within said positioner Whilepermitting rotational motion; and a detachable closure member adaptedt-o seal the forward end of said body member.

'5. In a device of the character described, a hollow body memberprovided with a mouth at its forward end; a hollow positioner having aforward internally threaded portion disposed coaxially within said bodyand a rear handle portion; means for sealing said body and positionerwhile permitting relative rotational motion; a sleeve member carrying atone end two forceps members and at the opposite end ,a lug adopted toengage said threaded portion to move the sleeve axially within thepositioner responsive to rotation of the positioner handle; a forceps`operating rod disposed along the axis of said sleeve and fastened tosaid forceps to move with said sleeve; a vcollet clutch xed to said rod;a clutch sleeve to receive and close said collet disposed coaxiallywithin said positioner handle; means normally urging said colletrearward into said sleeve, and a cap over the rear end of said rod engaging said positioner and urging said rod forward to prevent engagement ofsaid clutch.

No references cited.

1. MEANS FOR ENTERING ONE OR MORE CLOSED VESSELS WITHOUT LOSS OF VACUUMCOMPRISING LOADING BLOCKS MOUNTED IN VACUUM-TIGHT RELATION IN EACHVESSEL TO BE ENTERED, SAID BLOCKS EACH BEING PROVIDED WITH A RECESSEDPORTION NEAR ITS INNER FACES, A NORMALLY CLOSED APERTURE IN SAID FACECOMMUNICATION WITH SAID RECESS, AND A PASSAGEWAY FROM THE OUTER FACE TOSAID RECSSS AND ALIGNED WITH SAID APERTURE; A DETACHABLE MEMBER HAVING AHOLLOW BODY PORTION DISPOSED WITH SAID PASSAGEWAY, A MOVEABLE CAP AT THEINNER END OF SAID BODY, A HANDLE, AND AXIALLY EXTENDABLE FORCEPS MOUNTEDWITHIN SAID HANDLE; A CLOSURE MEMBER ENGAGING SAID BODY AND SAID BLOCKFOR SEALING SAID PASSAGEWAY; MEANS FOR OPENING SAID APERTURE TO SAIDRECESS; MEANS FOR REMOVING SAID CAP FOR EXPOSE SAID HOLLOW BODY TO SAIDAPERTURES; AND MEANS FOR EXTENDING AND MANIPULATING FORCEPS THROUGH SAIDAPERTURE INTO SAID VESSEL.